한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권7호
  • /
  • Pages.661-666
  • /
  • 2015
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지
DOI QR코드

DOI QR Code

수중운항로봇 플랫폼의 무게중심 조정을 통한 제어성능 향상

Hovering Performance Improvement by Modifying COG of Underwater Robotic Platform

  • 박정애 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 진상록 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Bak, Jeongae (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Jong-Won (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Jin, Sangrok (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Jongwon (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, TaeWon (Department of Mechanical Engineering, Yeungnam University)
  • 투고 : 2015.01.22
  • 심사 : 2015.06.09
  • 발행 : 2015.07.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents control performance improvement by modifying center of gravity (COG) of an underwater robotic platform. To reduce the oscillation or to increase the positioning accuracy, it is important to accurately know the COG of an underwater robotic platform. The COG is determined by the three measured tilting angles of the platform in different postures. The tilting angle is measured while the platform is hanged by two strings. Using coordinate transformation, the plane of intersection is defined from the angle of the platform and the position of the string. The COG of the robotic platform is directly calculated by the intersected point in three defined planes. The measured COG is implemented to the control algorithm that is pre-designed in the previous research, and the empirical result on tilting gives 48.26% improved oscillation performance comparing to the oscillation result with the ideal COG position.

키워드

참고문헌

  1. Yuh, J., "Design and Control of Autonomous Underwater Robots: A Survey," Autonomous Robots, Vol. 8, No. 1, pp. 7-24, 2000. https://doi.org/10.1023/A:1008984701078
  2. Choi, S. K., Yuh, J., and Takashige, G. Y., "Development of the Omni Directional Intelligent Navigator," Robotics & Automation Magazine, Vol. 2, No. 1, pp. 44-53, 1995. https://doi.org/10.1109/100.388292
  3. Kondo, H., Ura, T., Yu, S. C., and Nose, Y., "Design of Autonomous Underwater Vehicle 'Tri-Dog1' and Tank Tests," Proc. of International Symposium Techno-Ocean, pp. 339-344, 2000.
  4. Kantor, G., Fairfield, N., Jonak, D., and Wettergreen, D., "Experiments in Navigation and Mapping with a Hovering AUV," in: Field and Service Robotics, Laugier, C. and Siegwart, R., (Eds.), Springer, pp. 115-124, 2008.
  5. Jin, S., Kim, J.-H., and Seo, T., "Six-Degree-of-Freedom Hovering Control of an Underwater Robotic Platform with Four Tilting Thrusters via Selective Switching Control," IEEE/ASME Transactions on Mechatronics, Vol. PP, No. 99, pp. 1-9, 2015. https://doi.org/10.1109/tcbb.2007.1041
  6. Song, K.-S. and Choi, Y.-S., "Field Measurement of the Center of Gravity and the Moment of Inertia of Railway Vehicles Using Vibration," Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 23, No. 10, pp. 878-884, 2013. https://doi.org/10.5050/KSNVE.2013.23.10.878
  7. Lee, M.-S. and Kim, S.-S., "A Experimental Study on the Measurement and Estimation of Vehicle Center of Gravity," Transactions of the Korean Society of Automotive Engineers, Vol. 18, No. 5, pp. 91-99, 2010.

피인용 문헌

  1. Study on Gravitational Torque Estimation and Compensation in Electrically Driven Satellite Antenna System vol.33, pp.10, 2016, https://doi.org/10.7736/KSPE.2016.33.10.789
  2. Positioning control of an underwater robot with tilting thrusters via decomposition of thrust vector vol.15, pp.5, 2017, https://doi.org/10.1007/s12555-016-0298-x